System and method for delivering a stent to a selected position within a lumen

ABSTRACT

Method for delivering a stent coupled with a catheter, to a selected position within a lumen of the body of a patient, the method includes the procedures of: selecting a single image of the lumen, among a plurality of images of an image sequence of the lumen, receiving a position input associated with the selected image and respective of the selected position, the position input is defined in a coordinate system respective of a medical positioning system (MPS), detecting the current position of the stent in the coordinate system, according to position data acquired by an MPS sensor attached to the catheter in the vicinity of the stent, superimposing on at least one maneuvering associated image of the lumen, at least one stent representation respective of the current position, and at least one marking representation respective of the position input, according to a real-time organ timing signal of an inspected organ of the body, maneuvering the catheter through the lumen, toward the selected position, according to the current position relative to the position input, and producing an output when the current position substantially matches the selected position.

FIELD OF THE DISCLOSED TECHNIQUE

The disclosed technique relates to medical operations in general, and tomethods and systems for mounting a stent in the body of a patient, inparticular.

BACKGROUND OF THE DISCLOSED TECHNIQUE

An occluded vessel in the body of a patient is cleared by severing theoccluding matter (e.g., the intima of a blood vessel), for example byinflating a balloon (i.e., angioplasty), applying a cryogenic fluid,exposing the vessel to laser or an electric potential, and removingmatter by a rotating blade (rotablator). This severing action initiatesa healing process in the vessel, which causes production of new tissuecells, thereby once again constricting the passage through the vessel.The growth of tissue cells occurs over a period of a few monthsfollowing the surgery. In order to keep the passageway open for a longerperiod of time, and prevent tissue cell to grow as a result of healing,a rigid thin wall tube whose wall is in form of wire mesh (i.e., stent)is mounted in the severed portion of the vessel, within the vessel.

Methods and systems for maneuvering the stent catheter to the desiredlocation within the vessel, after severing the vessel are known in art.For example, a marker band is attached to the catheter close to thestent, thereby enabling the physician to navigate the catheter byviewing the marker band in a real-time X-ray image of the vessel. Inanother case, the physician can view a representation of the positionand orientation of the stent on the real-time X-ray image, according toposition and orientation data acquired by a medical positioning system(MPS) sensor, attached to the catheter close to the stent.

U.S. Pat. No. 5,928,248 issued to Acker and entitled “Guided Deploymentof Stents”, is directed to an apparatus for applying a stent in atubular structure of a patient. The apparatus includes a catheter, ahub, a pressure control device, a balloon, a stent, a probe fieldtransducer, a plurality of external field transducers, a fieldtransmitting and receiving device, a computer, an input device and acathode ray tube. The catheter includes a bore. The hub is affixed to aproximal end of the catheter. The balloon is mounted on a distal end ofthe catheter. The pressure control device is connected to the balloonthrough the hub and the bore. The stent is made of a shape memory alloyand is located on the balloon.

The probe field transducer is located within the catheter, at a distalend thereof. The external field transducers are located outside of thepatient (e.g., connected to the patient-supporting bed). The fieldtransmitting and receiving device is connected to the external fieldtransducers, the probe field transducer and to the computer. Thecomputer is connected to the cathode ray tube and to the input device.

A user calibrates the field transmitting and receiving device in anexternal field of reference, by employing the external fieldtransducers. The field transmitting and receiving device together withthe computer, determine the position and orientation of the probe fieldtransducer in the external field of reference. The user views theposition and orientation of a representation of the stent which islocated within a tubular structure of the patient, on the cathode raytube. When the user determines that the distal end is located at thedesired location within the tubular structure, the user expands thestent by operating the pressure control device and inflating theballoon, thereby positioning the stent at the desired location.

U.S. Pat. No. 5,830,222 issued to Makower and entitled “Device, Systemand Method for Interstitial Transvascular Intervention”, is directed toa method for gaining percutaneous access to a diseased vessel through anadjacent intact vessel. Using this method, it is possible to bypass thediseased vessel, such as a coronary artery, through the intact vessel,such as a cardiac vein. The diseased vessel may include an occlusionthat restricts the flow. A guide-catheter is advanced through the venacava into the coronary sinus, within the right atrium of the heart. Atransvascular interstitial surgery (TVIS) guide catheter is insertedthrough the guide-catheter and advanced through the cardiac vein over afirst guidewire, to a desired location adjacent the coronary artery.

The TVIS guide-catheter includes a balloon, a TVIS probe and either orboth of active orientation detection means and passive orientationdetection means. The TVIS probe is a rigid wire, antenna, light guide orenergy guide capable of being inserted in tissue. The passiveorientation detection means allow radiographic, fluoroscopic, magneticor sonographic detection of position and orientation of the TVIS probe.The active orientation detection means is a transmitter. A secondguidewire is inserted into the coronary artery adjacent the cardiacvein, wherein the second guidewire includes a small receiver to receivea signal emitted by the active orientation detection means. The secondguidewire further includes a wire bundle which is capable to return thesignal detected by the receiver, to an operator, thereby enabling theoperator to determine the position and location of the TVIS probe.

When the orientation of the TVIS guide-catheter is assured, the balloonis inflated against the wall of the cardiac vein, in order to block theflow, stabilize the TVIS guide-catheter within the cardiac vein anddilate the passageway. The TVIS probe, is then advanced through the wallof the cardiac vein into the coronary artery, thereby bypassing thediseased section of the coronary artery.

U.S. patent Publication No. 20020049375 entitled “Method and Apparatusfor Real Time Quantitative Three-Dimensional Image Reconstruction of aMoving Organ and Intra-Body Navigation”, is directed to a system fordisplaying an image of a lumen of a patient into which a surgicalcatheter is inserted, while taking into account the movements of thelumen caused by the heart beats of the patient. The system includes thesurgical catheter, an imaging catheter, an imaging system, a medicalpositioning system (MPS), a transmitter, a body MPS sensor, a processor,a plurality of electrocardiogram (ECG) electrodes, an ECG monitor, adatabase, and a display. The surgical catheter includes a catheter MPSsensor located at a tip thereof. The imaging catheter includes animaging MPS sensor and an image detector, both located at a tip of theimaging catheter.

The ECG electrodes are attached to the body of the patient and to theECG monitor. The body MPS sensor is attached to the body of the patientand to the MPS. The processor is coupled with the imaging system, theMPS, the ECG monitor, the database and with the display. The MPS iscoupled with the transmitter. During the scanning procedure the MPS iscoupled with the imaging MPS sensor. During the surgical procedure theMPS is coupled with the catheter MPS sensor. The imaging system iscoupled with the image detector. The imaging MPS sensor and the catheterMPS sensor send a signal respective of the position and orientation ofthe tip of the imaging catheter and the surgical catheter, respectively,to the MPS.

During the scanning procedure, an operator inserts the imaging catheterinto the lumen and advances it therein, while the image detector scansthe inner wall of the lumen and transmits detected two-dimensionalimages to the imaging system. The processor reconstructs a plurality ofthree-dimensional images according to the two-dimensional images andaccording to the coordinates of the tip of the imaging catheterdetermined by the MPS, while the processor associates eachthree-dimensional image with a respective activity state of the heart ofthe patient.

During the surgical procedure, the operator inserts the surgicalcatheter into the lumen and the catheter MPS sensor sends a locationsignal respective of the position and orientation of the tip of thesurgical catheter to the MPS. As the operator moves the surgicalcatheter within the lumen, the processor determines a sequence ofthree-dimensional images of the lumen by retrieving data from thedatabase, and according to the current position and orientation of thetip of the surgical catheter and the current activity state of the heartof the patient. The display displays the three-dimensional images insequence, according to a video signal received from the processor.

U.S. Pat. No. 6,035,856 issued to LaFontaine et al., and entitled“Percutaneous Bypass with Branching Vessel”, is directed to a method forperforming a bypass on a first occlusion of a branching vessel of theaorta. A coronary artery which includes the first occlusion, and abranching vessel branch out of the aorta. A standard guide-catheter isadvanced through the aorta up to the ostium of the branching vessel. Anocclusion forming device is advanced through the guide-catheter into thebranching vessel, to produce a second occlusion in the branching vessel.The occlusion device includes an elongate portion and a heated balloon.

The occlusion forming device is removed from the aorta through theguide-catheter and a cutting device is advanced through theguide-catheter proximal to the second occlusion. The cutting deviceincludes an elongate member, a steerable guidewire, a proximal occlusionballoon, a distal balloon, a stent, a cutting blade, a first piece ofmagnetic material and a transmitter. The cutting blade is located distalto the distal balloon, the first piece of the magnetic material islocated between the cutting blade and the distal balloon and thetransmitter is located within the distal balloon. The distal balloon islocated within the stent. The transmitter emits radio frequency signals.

The wall of the branching vessel is cut by employing the cutting blade.The distal balloon is kept in the expanded position, in order to occludethe branching vessel after the branching vessel has been cut. Thesevered end of the branching vessel is steered toward a region of thecoronary artery distal to the first occlusion, by maneuvering thesteerable guidewire or by manipulating the first piece of the magneticmaterial by a second piece of magnetic material, wherein the secondpiece of magnetic material is located outside the body of the patient.

The true position and the relative position of the transmitter and thusthe position of the severed end of the branching vessel, is determinedby employing a triangulation and coordinate mapping system. Thetriangulation and coordinate mapping system includes three referenceelectrodes which are located outside the body of the patient. Two of thereference electrodes are located on opposite sides of the heart and thethird is located on the back. The three reference electrodes are used totriangulate on the transmitter.

When the severed end of the branching vessel is properly positioned, anaperture is formed in the coronary artery distal to the first occlusion,by employing the cutting blade. The severed end of the branching vesselis inserted into the coronary artery through the aperture and the stentis expanded by inflating the distal balloon, thereby attaching thesevered end of the branching vessel to the lumen of the coronary artery.

SUMMARY OF THE DISCLOSED TECHNIQUE

It is an object of the disclosed technique to provide a novel method andsystem for navigating, delivering and deploying a stent within a tubularorgan.

In accordance with the disclosed technique, there is thus provided amethod for delivering a stent coupled with a catheter, to a selectedposition within a lumen of the body of a patient. The method includesthe procedures of:

-   -   selecting a single image of the lumen, among a plurality of        images of an image sequence of the lumen.    -   receiving a position input associated with the selected image        and respective of the selected position. The position input is        defined in a coordinate system respective of a medical        positioning system (MPS).    -   detecting the current position of the stent in the coordinate        system, according to position data acquired by an MPS sensor        attached to the catheter in the vicinity of the stent.    -   superimposing on at least one maneuvering associated image of        the lumen, at least one stent representation respective of the        current position, and at least one marking representation        respective of the position input, according to a real-time organ        timing signal of an inspected organ of the body;    -   maneuvering the catheter through the lumen, toward the selected        position, according to the current position relative to the        position input; and    -   producing an output when the current position substantially        matches the selected position.

BRIEF DESCRIPTION OF THE DRAWINGS

The disclosed technique will be understood and appreciated more fullyfrom the following detailed description taken in conjunction with thedrawings in which:

FIG. 1A is a schematic illustration of a graphical user interface (GUI)displaying a representation of a catheter on a two-dimensional image ofa lumen system of the body of a patient, constructed and operativeaccording to an embodiment of the disclosed technique;

FIG. 1B is a schematic illustration of a GUI displaying anotherrepresentation of the catheter on a three-dimensional image of a lumenof the lumen system of FIG. 1A, constructed and operative according toanother embodiment of the disclosed technique;

FIG. 2A is a schematic illustration of the GUI of FIG. 1A, displaying aset of marks respective of a selected position within the lumen systemand a representation of the current position of a stent advancing towardthe selected location, on the two-dimensional image of FIG. 1A;

FIG. 2B is a schematic illustration of the GUI of FIG. 1B, displayinganother set of marks equivalent to the set of marks of FIG. 2A, andanother representation of the current position of the stent, on thethree-dimensional image of FIG. 1B;

FIG. 3A is a schematic illustration of the GUI of FIG. 1A when the stentreaches the selected position;

FIG. 3B is a schematic illustration of the GUI of FIG. 1B when the stentreaches the selected position;

FIG. 4A is a schematic illustration of a two-dimensional image of thelumen of FIG. 1A, at activity-state T₁ of an inspected organ;

FIG. 4B is a schematic illustration of another two-dimensional image ofthe lumen of FIG. 1A at activity-state T₂;

FIG. 4C is a schematic illustration of a further two-dimensional imageof the lumen of FIG. 1A at activity-state T₃;

FIG. 4D is a schematic illustration of a GUI which includes a real-timesubstantially stabilized representation of an MPS sensor of a catheterlocated within the lumen of FIG. 1A, superimposed on the lumen of FIG.4B, the GUI being constructed and operative according to a furtherembodiment of the disclosed technique;

FIG. 5 is a schematic illustration of a method for delivering a stent toa selected position within a lumen, operative according to anotherembodiment of the disclosed technique;

FIG. 6 is a schematic illustration of a multi functionalthree-dimensional imaging system constructed and operative in accordancewith a further embodiment of the disclosed technique;

FIG. 7A is an illustration in perspective of an inner-body radialultrasound imaging system, constructed and operative in accordance withanother embodiment of the disclosed technique;

FIG. 7B is an illustration in perspective of a plurality of radialtwo-dimensional images of the inner walls of an inspected vessel;

FIG. 8, which is a schematic illustration of a two-dimensional image ina given coordinate system;

FIG. 9 is an illustration in perspective of a plurality oftwo-dimensional images and an organ timing signal;

FIG. 10A is a schematic illustration of a plurality of three-dimensionalvolumes according to a further embodiment of the disclosed technique;

FIG. 10B is a schematic illustration of some of the three-dimensionalvolumes of FIG. 10A, at a later stage of image reconstruction;

FIG. 10C is a schematic illustration of a selected three-dimensionalvolume of FIG. 10A, going through a procedure of image updating;

FIG. 11A is a schematic illustration of an ECG of a patient;

FIG. 11B is a schematic illustration of trajectories of the tip of thecatheter of the system of FIG. 6, respective of differentactivity-states of the ECG of FIG. 11A, constructed according to anotherembodiment of the disclosed technique;

FIG. 11C is a schematic illustration of the process of reconstructing athree-dimensional organ motion dependent image sequence, andsuperimposing additional visual data thereon, by processing the signalsreceived from the two-dimensional image acquisition device, the MPS andthe ECG monitor;

FIG. 12 is a schematic illustration of an ECG coordinated display (i.e.,a GUI) of a lumen, constructed and operative in accordance with afurther embodiment of the disclosed technique;

FIG. 13A is an illustration of the lumen of FIG. 1A, having a pluralityof occluded regions. FIG. 13B is a cross-sectional view of a selectedregion of the lumen of FIG. 13A;

FIG. 13C is a schematic illustration of a representation of the lumen ofFIG. 13B in a GUI, operative in accordance with another embodiment ofthe disclosed technique;

FIG. 14 is a schematic illustration of a method for determining an organtiming signal of an organ of the patient, according to position data ofan MPS sensor which moves together with the movements of the organ,operative in accordance with a further embodiment of the disclosedtechnique;

FIG. 15A is a schematic illustration of a cardiac trajectory, in anelectrical signal representation and in a mechanical signalrepresentation;

FIG. 15B is a schematic illustration of a respiratory trajectory in amechanical signal representation;

FIG. 16 is a schematic illustration of a system for automaticallymaneuvering a catheter within a lumen of the body of a patient,constructed and operative in accordance with another embodiment of thedisclosed technique; and

FIG. 17 is a schematic illustration of a method by which the imagingsystem of the system of FIG. 16 determines the coordinates of a pathwithin the lumen, in three dimensions.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The disclosed technique overcomes the disadvantages of the prior art bygraphically designating on an image of the lumen, the position where thestent has to be delivered, and indicating when the stent has reached theselected position. A medical positioning system (MPS) sensor constantlydetects the position of the stent relative to the selected position, andthis position is represented on a pseudo-real-time image or a frozen(i.e., frozen in time) image of the lumen, without having to radiate theinspected organ of the patient repeatedly. The medical staff can eitherguide the catheter manually according to feedback from an appropriateuser interface, such as display, audio output, and the like, or activatea catheter guiding system which automatically guides the catheter towardthe selected position.

The term “position” herein below, refers to the location of a point inspace, the orientation of the point in space, or a combination thereof.The term “lumen” herein below, refers to an organic tubular structure ofthe human patient or the operated animal, such as an artery, vein,cardiac vessel, brain vessel, part of the urogenital system, nephroticsystem, hepatic system, bronchus tree, and the like. The term “medicaloperational element” herein below refers to an element which is employedto perform a minimally invasive operation within a lumen of the body ofa patient. The medical operational element can be an expansion unit suchas a balloon, stent, balloon expanding stent, an ablation unit such aslaser, cryogenic fluid unit, electric impulse unit, cutting balloon,rotational atherectomy unit (i.e., rotablator), directional atherectomyunit, transluminal extraction unit, a substance delivery unit such ascoated stent, drug delivery balloon, brachytherapy unit, and the like.

The term “organ timing signal” herein below, refers to a signalrepresenting cardiac cycle of the heart or the respiratory cycle of thelungs. An organ timing signal can be extracted using traditional methodssuch as ECG or by measuring the movements of the lumen due to cardiac orrespiratory cycles. The term “cine-loop” herein below, refers to aprerecorded sequence of two-dimensional images of the lumen, which areplayed back over and over again (i.e., in a loop), in synchrony with thereal-time organ timing signal of the inspected organ of the patient. Thetwo-dimensional images are acquired by a two-dimensional imageacquisition device, such as X-ray fluoroscopy, C-arm, and the like, andindividually stored while being associated with the respectiveactivity-state of the inspected organ, at the time of image acquisition.

Reference is now made to FIGS. 1A, 1B, 2A, 2B, 3A, and 3B. FIG. 1A is aschematic illustration of a graphical user interface (GUI) generallyreferenced 100, displaying a representation of a catheter on atwo-dimensional image of a lumen system of the body of a patient,constructed and operative according to an embodiment of the disclosedtechnique. FIG. 1B is a schematic illustration of a GUI generallyreferenced 102, displaying another representation of the catheter on athree-dimensional image of a lumen of the lumen system of FIG. 1A,constructed and operative according to another embodiment of thedisclosed technique. FIG. 2A is a schematic illustration of the GUI ofFIG. 1A, displaying a set of marks respective of a selected positionwithin the lumen system and a representation of the current position ofa stent advancing toward the selected location, on the two-dimensionalimage of FIG. 1A. FIG. 2B is a schematic illustration of the GUI of FIG.1B, displaying another set of marks equivalent to the set of marks ofFIG. 2A, and another representation of the current position of thestent, on the three-dimensional image of FIG. 1B. FIG. 3A is a schematicillustration of the GUI of FIG. 1A when the stent reaches the selectedposition. FIG. 3B is a schematic illustration of the GUI of FIG. 1B whenthe stent reaches the selected position.

With reference to FIG. 1A, while a lumen system (e.g., the coronaryarteries—not shown) of the body of a patient (not shown) is imaged by aplurality of two-dimensional image acquisition devices (not shown), theoperator (i.e., physical staff) inserts a catheter (not shown) into thelumen system. The catheter can be of any type known in the art, such asguidewire, guiding catheter, balloon catheter, and the like. GUI 100includes a two-dimensional image 104 (e.g., an X-ray fluoroscopy,angiogram) of the lumen system, as detected by the respectivetwo-dimensional image acquisition device.

Two-dimensional image 104 is a real-time image which is acquired fromthe lumen system, while a contrast agent is present in the lumen system.Alternatively, two-dimensional image 104 is a cine-loop of the lumensystem (i.e., a pseudo-real-time two-dimensional image). Furtheralternatively, two-dimensional image 104 is a frozen image of the lumensystem (i.e., one of the images among a plurality of images in acine-loop, which the operator selects). In this case, the selectedtwo-dimensional image can be an image whose contrast for example, isbetter (e.g., exhibits better contrast) than all the rest, and whichportrays the lumen system in a manner which is satisfactory for theoperator either to designate the selected location of the stent, or toview a real-time representation of the stent, as the stent is beingnavigated within the lumen system.

With reference to FIG. 1B, GUI 102 includes a three-dimensional image106 of a lumen (referenced 108) of the lumen system displayed in GUI100, through which the catheter is being maneuvered. Three-dimensionalimage 106 is reconstructed from a plurality of two-dimensional imageswhich are detected by respective the two-dimensional image acquisitiondevice, during an image acquisition stage, as described herein below inconnection with FIGS. 6, 7A, 7B, 8, 9, 1A, 10B, and 10C.

Three-dimensional image 106 is a pseudo-real-time image of lumen 108(i.e., a three-dimensional cine-loop), which is played back in a loop,in synchrony with the real-time organ timing signal of the inspectedorgan. Alternatively, three-dimensional image 106 is a static image oflumen 108, which is selected among a plurality of three-dimensionalimages in the cine-loop. The operator can select the static image byplaying the cine-loop forward and backward. Further alternatively,three-dimensional image 106 is an image of lumen 108, frozen at aselected activity-state of the inspected organ.

Three-dimensional image 106 is synchronized with a real-time organtiming signal (e.g., cardiac cycle) respective of the movement of theinspected organ (e.g., the inspected lumen - not shown). The organtiming signal can be acquired for example, by an ECG monitor (not shown)coupled with the patient. Alternatively, the organ timing signal (e.g.,the heart beat or the respiration of the patient) can be determined bythe MPS (not shown), as described herein below in connection with FIGS.14, 15A, and 15B.

A system according to the disclosed technique can display a selectedimage sequence (either a sequence of two-dimensional images detected bythe respective two-dimensional image acquisition device, or a sequenceof three-dimensional images reconstructed from a plurality oftwo-dimensional images—i.e., a cine-loop or video clip), in synchronywith the real-time organ timing signal of the patient, among a list ofprerecorded image sequences. The system can display a still image amonga selected image sequence. Alternatively, the system can display areal-time two-dimensional image of an organ of the patient, acquiredfrom a first viewing angle by one of the two-dimensional imageacquisition devices, alongside a pseudo-real-time two-dimensional imagesequence (i.e., two-dimensional cine-loop) of the inspected organ,acquired previously by either the same two-dimensional image acquisitiondevice or another two-dimensional image acquisition device, from asecond viewing angle, and played back in synchrony with the real-timeorgan timing signal of the inspected organ.

The operator can view a prerecorded two-dimensional image sequence(e.g., an X-ray fluoroscopy) synchronized with the real-time organtiming signal of the organ, thereby obviating the need to inject acontrast agent repeatedly and subjecting the patient to unnecessaryradiation. Alternatively, the system can display the image relative to aselected activity-state of the organ (i.e., a frozen image), asdescribed herein below in connection with FIG. 12.

An MPS sensor (not shown) is firmly attached to the tip of the catheter.Three-dimensional image 106 is registered with two-dimensional image104, such that each point in two-dimensional image 104 corresponds to arespective point in three-dimensional image 106. In this manner, thecoordinates of each point in three-dimensional image 106 can beprojected onto two-dimensional image 104. Alternatively, each point intwo-dimensional image 104 can be transferred to three-dimensional image106 (e.g., by acquiring a series of two-dimensional images fromdifferent viewing angles). A real-time representation 110 (FIG. 1A) ofthe MPS sensor is superimposed on lumen 108, as described herein belowin connection with FIG. 6. A real-time representation 112 (FIG. 1B) ofthe MPS sensor is superimposed on three-dimensional image 106.

In addition to real-time representation 110, the operator can view oneor more fiducial markers (e.g., metallic band) attached to the catheter,on a real-time two-dimensional image of lumen 108. This feature enablesthe operator to continue using the real-time two-dimensional image, evenwhen little or no contrast agent exists within lumen 108.

A trajectory 114 (FIG. 1B) of the catheter as advanced through lumen 108is constructed and represented in GUI 102, as described herein below inconnection with FIGS. 11B, and 11C. Trajectory 114 is constantly updatedin synchrony with the movement of lumen 108, according to the positiondata acquired by the MPS sensor. Moreover, in this manner,three-dimensional image 106 is displayed relative to the coordinatesystem of lumen 108. The movement of lumen 108 can be caused forexample, by the heart beat, the respiration, contraction of nearbymuscles of the patient, and the like.

The operator can switch between GUI 100 and GUI 102, or display both GUI100 and GUI 102 side by side, via a user interface, such as a switch,foot pedal, and the like, as described herein below in connection withFIG. 6. The operator can direct the system to display a real-timetwo-dimensional image of the lumen system, for example, by pressing afoot pedal, thereby activating the respective two-dimensional imageacquisition device. Alternatively, the operator can direct the system todisplay a two-dimensional cine-loop of the lumen system, instead of thereal-time two-dimensional image of the lumen system, via the userinterface. In this case, the system displays the two-dimensionalcine-loop which was last played back. If the system includes nocine-loops (i.e., prerecorded time-tagged image sequences), then thesystem displays a cine-loop of the most recent real-time two-dimensionalimage. Further alternatively, the operator can direct the system todisplay the real-time two-dimensional image and a selected cine-loop, onthe same display, side by side.

With the aid of GUI 100 and GUI 102, the operator maneuvers the cathetermanually, in order to reach a predetermined region within the lumensystem. Alternatively, the operator can employ an automatic system (notshown) for automatically maneuvering the catheter to the predeterminedregion, as described herein below in connection with FIGS. 16, and 17.

With reference to FIG. 2A, during a planning session, the operatorgraphically designates a plurality of marks 116, 118, and 120 ontwo-dimensional image 104, as a selected position within lumen 108,which a medical operational element (not shown) is to be delivered to.The operator performs the marking either on a frozen two-dimensionalimage of lumen 108, or on a frozen three-dimensional image of lumen 108.

During the planning session, a respective one of displays 214 displays asuperposition of a trajectory of a catheter previously maneuveredthrough lumen 108, on an image of lumen 108. The trajectory can bedisplayed either on two-dimensional image 104 or three-dimensional image106 (e.g., trajectory 114).

This trajectory can be obtained for example, by employing a guidedintravascular ultrasound catheter (GIVUS—not shown), in an imagingsession prior to the planning session. The GIVUS is a catheter whichincludes an image detector (e.g., ultrasound transducer) at the tipthereof, and an MPS sensor in the vicinity of the image detector. Theoperator maneuvers the GIVUS within the lumen, as far as physicallypossible, and then pulls the GIVUS back through the lumen. During thepull-back, the image detector detects a plurality of two-dimensionalimages of the inside of the lumen.

The system associates each of the two-dimensional images with therespective position of the image detector determined by the MPS, andwith the respective activity-state of the inspected organ. The systemcan determine a cine-loop of the trajectory during the pull-back, andthe operator can select a frozen trajectory to be employed during theplanning session. The system can further reconstruct three-dimensionalimage 106 according to the time-tagged two-dimensional images acquiredby the GIVUS.

During the planning session, a respective one of displays 214 displaysmarks 116, 118 and 120 articulated by the user interface on an image oflumen 108. The operator can move marks 116, 118 and 120 together alongthe full length of the trajectory (e.g., trajectory 114 of FIG. 1B).Mark 118 designates the middle of the stent, while marks 116 and 120designate the rear end and the front end of the stent, respectively. Thesystem determines the distance between marks 116 and 120, according tothe type (i.e., size) of stent which the operator has selected to mountwithin lumen 108. Marks 116, 118 and 120 together, are locked-on to thetrajectory, while being operative to travel along the trajectory. Theoperator designates the position of mark 118 along the trajectory wherethe stent is to be mounted within lumen 108.

For simplicity, the medical operational element in the example set forthin FIGS. 2A, 2B, 3A, and 3B, is a stent. In this case, each of marks116, 118, and 120 is a substantially straight line, which issubstantially perpendicular to lumen 108. For example, marks 116 and 120designate the two ends of the stent, while mark 118 designates themiddle of the stent. Marks 116, 118, and 120 define the location of thestent in lumen 108, as well as the orientation thereof. The marking isperformed via a user interface (not shown), such as a joystick, pushbutton, pointing device (e.g., a mouse, stylus and digital tablet,track-ball, touch pad), and the like.

A plurality of marks 122,124 and 126, which are the counterpart of marks116,118, and 120, respectively, are simultaneously displayed onthree-dimensional image 106 in GUI 102. For the purpose of performingthe marking, each of two-dimensional image 104 and three-dimensionalimage 106 is frozen at the same activity-state of the inspected organ(e.g., the heart). This freezing feature provides a still image of lumen108, thereby preventing vibrations of the image and enabling asuccessful marking by the operator.

Instead of manually designating the marks, an algorithm can be employedto automatically identify the selected location (e.g., by entering intothe algorithm, a selected percentage of occlusion by a plaque in alumen), and designate marks 116, 118, 120, 122, 124, and 126,automatically. This aspect of the invention is described herein below inconnection with FIGS. 13A, 13B, and 13C. The system associates theocclusion data with three-dimensional image 106, and projects thisocclusion data on two-dimensional image 104, for the purpose ofdesignating marks 116, 118 and 120.

During the operation, following the planning session, a catheter whichincludes a stent (not shown), is maneuvered within lumen 108 towardmarks 116, 118 and 120. An MPS sensor (not shown) is attached to thecatheter in the vicinity of the stent. With reference to FIGS. 2A and2B, the position of the front end and of the rear end of the stent arerepresented in real-time, by features 128 and 130, respectively, ontwo-dimensional image 104, and by features 132 and 134, respectively, onthree-dimensional image 106. In the example set forth in FIGS. 2A and2B, each of features 128 and 130 is in form of a rectangle withlongitudinal lines 136 and 138, respectively, dividing each rectangle intwo. The actual trajectory of the catheter is represented by a feature140 (FIG. 2B) superimposed on three-dimensional image 106. The actualtrajectory of the catheter can be represented by another feature (notshown) superimposed on two-dimensional image 104.

During the medical operation, the system superimposes features 128 and130 together with marks 116, 118 and 120, while the catheter is beingmaneuvered through lumen 108, either on a real-time two-dimensionalimage of lumen 108 (e.g., angiogram), on a two-dimensional cine-loop oflumen 108, or on a frozen two-dimensional image of lumen 108.Additionally, the system superimposes features 132 and 134 together withmarks 122, 124 and 126, while the catheter is being maneuvered throughlumen 108, either on a pseudo-real-time three-dimensional image of lumen108, or on a frozen three-dimensional image of lumen 108.

The system determines the distance between the centers (not shown) offeatures 128 and 130, according to the type (i.e., size) of stent whichthe operator selects for mounting in lumen 108. This distance asdisplayed on the respective one of displays 214, is substantially fixed,as the stent is maneuvered through lumen 108. Features 128 and 130 movetogether on image 104, while the stent is maneuvered through lumen 108.A respective one of displays 214 can display trajectories 140 and 142,either while catheter 222 is being maneuvered through lumen 108, orduring a play-back session, after performing the medical operation onthe patient.

It is noted that the system superimposes features 128,130,132, and 134,and marks 116, 118, 120, 122, 124, and 126, on the respective image oflumen 108, according to the real-time organ timing signal of theinspected organ (i.e., the system takes into account the movements oflumen 108 due to the movements of the inspected organ, while catheter222 is being maneuvered through lumen 108). This aspect of the disclosedtechnique enables the system to display marks 116, 118, 120, 122, 124,and 126, on a vibrating image of lumen 108, at substantially the sameposition which the operator had initially designated relative to lumen108. If the system did not operate in this manner, then marks 116,118,120,122, 124, and 126, would be non-stationary relative to a vibratingimage of lumen 108. Likewise, features 128, 130, 132, and 134, aresubstantially stationary relative to the vibrating image of lumen 108.

It is further noted that the operator can direct the system to eitherturn on or turn off the display of superposition of any of the marks,the representation of the position of the stent, the trajectory, or acombination thereof, via the user interface. Any attribute can beselected to represent the marks and the representation of the stent, aslong as they are different, such as color, shape, size, and the like.However, a mark or a stent representation is displayed by the sameattribute both in two-dimensional image 104 and three-dimensional image106. For example, marks 116, 118, 120, 122, 124, and 126 are representedin green, features 128, 130, 132, and 134 are represented in blue, andtrajectory 140 is represented in red.

With reference to FIGS. 3A and 3B, while the catheter is beingmaneuvered through lumen 108, each of two-dimensional image 104 andthree-dimensional image 106, is displayed relative to the coordinatesystem of lumen 108 (i.e., relative to the MPS sensor which is attachedto the catheter, and which constantly moves together with lumen 108).When the stent reaches the selected position (i.e., front end of thestent is substantially aligned with mark 120 and the rear end thereof issubstantially aligned with mark 116), a user interface (e.g., audio,visual, or tactile device—not shown) announces the event to theoperator.

In the example set forth in FIG. 3A, when the stent is aligned with theselected position, each pair of longitudinal lines and marks turns intoa cross (i.e., longitudinal line 136 together with mark 120 forms onecross, and longitudinal line 138 together with mark 116 forms anothercross). Additionally, the user interface can produce a relatively weakoutput, or a relatively strong output, when the stent is receding fromthe selected location, or approaching the selected location,respectively. A trajectory of the catheter while being maneuvered towardthe selected location, is represented by a feature referenced 142 (FIG.3B) superimposed on three-dimensional image 106.

Reference is further made to FIGS. 4A, 4B, 4C, and 4D. FIG. 4A is aschematic illustration of a two-dimensional image, generally referenced144, of the lumen of FIG. 1A, at activity-state T₁ of an inspectedorgan. FIG. 4B is a schematic illustration of another two-dimensionalimage, generally referenced 146, of the lumen of FIG. 1A atactivity-state T₂. FIG. 4C is a schematic illustration of a furthertwo-dimensional image, generally referenced 148, of the lumen of FIG. 1Aat activity-state T₃. FIG. 4D is a schematic illustration of a GUIgenerally referenced 150, which includes a real-time substantiallystabilized representation of an MPS sensor of a catheter located withinthe lumen of FIG. 1A, superimposed on the lumen of FIG. 4B, the GUIbeing constructed and operative according to a further embodiment of thedisclosed technique.

Two-dimensional images 144, 146 and 148 belong to a set oftwo-dimensional images of lumen 108 (FIG. 1A), acquired prior to theplanning session. With reference to FIG. 4B, lumen 108 at activity-stateT₂, represented by a point 152 has moved by a distance S₁ along thenegative Y axis, relative to the position thereof at activity-state T₁.With reference to FIG. 4C, lumen 108 at activity-state T₃ has moved by adistance S₂ along the negative Y axis, relative to the position thereofat activity-state T₂.

The contrast agent which is injected into the lumen system of thepatient remains within lumen 108 for a substantially short period oftime. During this period of time, the contrast of the set oftwo-dimensional images gradually increases to a peak and then graduallydecrease, until the two-dimensional image disappears altogether. Theoperator selects one of two-dimensional images 144, 146 and 148 (e.g.,two-dimensional image 146, whose contrast is best among all others), inorder to designate marks 116, 118 and 120 (FIG. 2A), and later observethe real-time advancement of the catheter represented by features 128and 130, superimposed on two-dimensional image 146.

Two-dimensional image 146 (FIG. 4D) is a frozen image of lumen 108 atactivity-state T₂. The system compensates for the movement of lumen 108due to the cycle of the inspected organ (e.g., the cardiac cycle), inorder to superimpose a substantially static real-time representation ofthe stent on frozen image 146 of lumen 108, in GUI 150. The system takesinto account the distances S₁ and S₂ at the respective activity-states,for compensating for the movements of the MPS sensor due to the cardiaccycle.

With reference to FIG. 4D, GUI 150 displays a real-time representation154 of the stent superimposed on an image of lumen 108 frozen atactivity-state T₂, while representation 154 is substantially static atall activity-states, including activity-states T₁ and T₂. It is notedthat according to this aspect of the disclosed technique, the system iscapable to display a substantially static representation of the stent,substantially free of vibrations due to the cardiac cycle. In thismanner, the system maintains a superposition of representation 154 onthe image of lumen 108, within the boundaries of that image, while thecatheter is maneuvered through lumen 108. In case the movements due tothe cardiac cycle were not compensated, the representation 154 wouldmove back and forth between points 156 and 158 (corresponding todistances S₁ and S₂, respectively), which are distracting to theoperator.

Alternatively, the system can superimpose only that representation ofthe stent, which corresponds to the activity-state respective of thefrozen image of lumen 108, and neglect all other activity-states oflumen 108. With reference to FIG. 4D, the system can superimposerepresentation 154 on the image of lumen 108, only when representation154 corresponds to activity-state T₂. This type of display stillprovides a substantially satisfactory view for the operator, since forexample, at substantially rapid rates of the cardiac cycle, this loss ofdata is substantially imperceptible to the human eye.

The system can determine the distances S₁ and S₂, according to a set ofthree-dimensional images reconstructed from a series of time-taggedtwo-dimensional images of lumen 108, acquired from inside of lumen 108(e.g., by employing a GIVUS). Alternatively, the system can determinethe distances S₁ and S₂ by processing and comparing among a set oftwo-dimensional images acquired from outside of lumen 108 (e.g., images144, 146 and 148).

The operator can direct the system to switch between GUI 150 and areal-time two-dimensional image of lumen 108 (e.g., an angiogram), byemploying a user interface (not shown—for example a foot pedal). Whenthe operator presses the foot pedal, the two-dimensional imageacquisition device radiates a portion of the body of the patient, andthe system displays the real-time two-dimensional image instead of GUI150. Alternatively, the system can superimpose the real-timetwo-dimensional image on GUI 150. Further alternatively, the system candisplay the real-time two-dimensional image along side GUI 150.

Reference is now made to FIG. 5, which is a schematic illustration of amethod for delivering a stent to a selected position within a lumen,operative according to another embodiment of the disclosed technique. Inprocedure 160, a frozen image of a lumen, among a plurality of images ofa cine-loop of the lumen is selected. With reference to FIG. 2A, theoperator selects two-dimensional image 104 among the images of acine-loop of lumen 108, by viewing the cine-loop forward and backward.

In procedure 162, at least one marking input associated with the frozenimage is received, respective of a selected position within the lumen,for delivering a stent to the selected position. With reference to FIG.2A, a processor of a system receives via a user interface, datarespective of marks 116, 118 and 120, which the operator designates ontwo-dimensional image 104. Marks 116, 118 and 120 designate the selectedposition within lumen 108, where the stent is to be delivered to. Theprocessor determines the position of marks 122 (FIG. 2B), 124 and 126,equivalent to marks 116, 118 and 120, on three-dimensional image 106.

In procedure 164, a catheter bearing the stent, is guided through thelumen, toward the selected position. With reference to FIG. 2A, theoperator guides the catheter with the stent attached to the tip thereof,through lumen 108 toward the selected position, while viewingrepresentations 128 and 130 which represent the front end and the rearend of the stent, respectively, on GUI 100. The operator can viewrepresentations 132 (FIG. 2B) and 134, which are equivalent torepresentations 128 and 130, respectively, on GUI 102. Alternatively,the operator can activate an automatic guiding system, whichautomatically guides the catheter through lumen 108, according to thecurrent position of the stent determined by the MPS, according to theselected position, and according to a topological representation of thelumen system.

In procedure 166, the current position of the stent is constantlydetected. The MPS sensor which is attached to the catheter in thevicinity of the stent, constantly detects the current position of thestent. It is noted that procedures 164 and 166 are performedconcurrently.

In procedure 168, an output is produced, when the current positionsubstantially matches the selected position. With reference to FIG. 3A,when the stent reaches the selected position (i.e., rectangle 128 linesup with mark 120 and rectangle 130 lines up with mark 116), the userinterface produces an announcement for the operator, according to anoutput of the processor.

Reference is now made to FIG. 6, which is a schematic illustration of amulti functional three-dimensional imaging system, generally referenced190, constructed and operative in accordance with a further embodimentof the disclosed technique. In the example set forth in FIG. 6, system190 is adapted for producing a three-dimensional image sequence of lumen108 (FIG. 1B), and playing it in real-time synchronicity, with themotion of the heart. However, system 190 can produce a three-dimensionalimage sequence of other organs (i.e., inspected organ) of the body ofthe patient, such as the brain, urogenital system, and the like. System190 can be employed for marking on an image of lumen 108 (e.g.,two-dimensional image 104 of FIG. 2A, or three-dimensional image 106 ofFIG. 2B), a selected position within lumen 108 (e.g., marks 116, 118 and120), for guiding a catheter toward the selected position, which carriesa stent at a tip thereof.

System 190 can produce three-dimensional image 106 according to aplurality of two-dimensional images acquired by the two-dimensionalimage acquisition device, and according to the organ timing signal oflumen 108, and play back an image sequence of the three-dimensionalimage 106 in synchrony with the real-time organ timing signal. System190 can play back also a cine-loop of lumen 108 in synchrony with thereal-time organ timing signal, selected from a list of cine-loops.System 190 can display either of two-dimensional image 104 orthree-dimensional image 106, relative to a selected activity-state ofthe organ timing signal (i.e., freezing an image).

System 190 can display either of two-dimensional image 104 orthree-dimensional image 106, relative to the coordinate system of aselected MPS sensor (e.g., an MPS sensor attached to the catheter, anMPS sensor attached to the body of the patient, or an MPS attached tothe operating table). System 190 can display a still image among aselected cine-loop. System 190 can acquire the organ timing signal byprocessing the MPS data, instead of the data acquired by the ECGmonitor. System 190 can display a representation of the position of thecatheter superimposed on either two-dimensional image 104, orthree-dimensional image 106, as well as the actual trajectory of thecatheter within the lumen. System 190 can identify a plaque within lumen108, having a selected percentage of occlusion, and automaticallydesignate the position of the plaque by marks 116, 118 and 120.

Following is a description of reconstructing a three-dimensional imagesequence of an inspected organ, from a plurality of two-dimensionalimages of the inspected organ, and an organ timing signal of theinspected organ. Three-dimensional imaging system 190 includes aprocessor 192, a plurality of two-dimensional image acquisition devices194, an ECG monitor 196, an MPS 198, a frame grabber 200, a digitalthree-dimensional image reconstructor (D3DR) 202, an adaptive volumetricdatabase (AVDB) 204, a superimposing processor 206, a user interface208, a plurality of MPS sensors 210 ₁, 210 ₂, 210 ₃ and 210 _(N), and anMPS transmitter 212. User interface 208 includes a plurality of displays214, a joystick (not shown), a push button (not shown), and a pointingdevice (not shown), such as a mouse, stylus and digital tablet,keyboard, microphone, and the like.

Each of displays 214 can be a two-dimensional display, anauto-stereoscopic display to be viewed with a suitable pair ofspectacles, a pair of goggles, and the like. For example, one ofdisplays 214 displays GUI 100 (FIG. 1A), while another one of displays214 displays GUI 102 which includes a three-dimensional image of lumen108, a two-dimensional ultrasound image of lumen 108 acquired by aGIVUS, an ECG representation, an appropriate task bar, and the like.

Two-dimensional image acquisition device 194 can be of any type known inthe art, such as computerized tomography (CT), nuclear magneticresonance (MRI), positron-emission tomography (PET),single-photon-emission tomography, fluoroscopy (i.e., X-ray machine),C-arm, guided intra-vascular ultrasound (GIVUS), and the like. Each oftwo-dimensional image acquisition devices 194 acquires either atwo-dimensional image of lumen 108 (FIG 1A) from outside of the body ofthe patient (e.g., by employing a C-arm, CT, MRI), or a two-dimensionalimage of lumen 108 from within lumen 108 (e.g., by employing a GIVUS).

A respective one of two-dimensional image acquisition devices 194includes an image transducer 218. ECG monitor 196 continuously detectsan electrical timing signal of the heart (not shown) during inspectionor surgery procedure, by employing a plurality of ECG electrodes 220.

Adaptive volumetric database 204 stores data required by system 190.Adaptive volumetric database 204 is typically a database unit, whichallows for storage and access of data records. The data includes framesof captured two-dimensional images from two-dimensional imageacquisition devices 194, as well as MPS sensor readings from MPS 198.Data is transferred to adaptive volumetric database 204, from which thedata is recalled for processing. Intermediate and final data valuesobtained throughout computations of processor 192 may also be stored inadaptive volumetric database 204. Adaptive volumetric database 204 mayfurther store information from additional devices used in conjunctionwith system 190 (e.g., information from an external monitoring devicesuch as ECG monitor 196, intra-vascular ultrasound—IVUS information, andthe like). In general, adaptive volumetric database 204 stores allpossible information that may be needed by system 190. Data elementsthat are stored in adaptive volumetric database 204 are time-tagged.

Processor 192 is coupled with ECG monitor 196, MPS 198, frame grabber200, D3DR 202, superimposing processor 206, AVDB 204 and with userinterface 208. Each of two-dimensional image acquisition devices 194 iscoupled with frame grabber 200 and with image transducer 218. MPS 198includes MPS transmitter 212 and MPS sensors 210 ₁, 210 ₂, 210 ₃ and 210_(N). MPS sensor 210 ₁ is firmly attached to the tip of a catheter 222.MPS sensor 210 ₂ is firmly attached to image transducer 218. ECGelectrodes 220 are attached to different locations on the body ofpatient 216. MPS sensor 210 _(N) is firmly attached to the body ofpatient 216. MPS sensor 210 ₃ is a reference sensor which is firmlyattached to the operation table (not shown) on which patient 216 islying. Each of MPS sensors 210 ₁, 210 ₂, 210 ₃ and 210 _(N) can becoupled with MPS 198 either by a conductor, or via a wireless link.

Image transducer 218 detects a plurality of two-dimensional images, eachrepresenting a slice of the inspected organ (i.e., the heart). Each ofthese two-dimensional images has a different spatial location andorientation.

Frame grabber 200 grabs each detected two-dimensional image and providesit to processor 192. MPS 198 receives and processes data related to thelocation and orientation of catheter 222 via MPS sensor 210 ₁ andprocesses data related to the location and orientation of imagetransducer 218 via MPS sensor 210 ₂.

MPS 198 further receives and processes data related to the location andorientation of the body of patient 216, via MPS sensor 210 _(N). It isnoted that MPS sensor 210 _(N) is used as reference in case patient 216moves. MPS sensor 210 _(N) is generally attached to an inspected area ofa patient body (reference 216). It is noted that MPS 198 can includeadditional MPS sensors, to be used as further references, therebyenhancing the performance of system 190. It is noted however that othermethods for assigning a reference point can be used, such as initialreferencing between all of the MPS sensors, strapping patient 216 duringthe entire procedure, analyzing the acquired images, and identifying arecurring visual point or section therein for each of the MPS sensorsother than the one for image transducer 218, and the like.

MPS 198 produces predetermined electromagnetic fields using MPStransmitter 212. Each of the MPS sensors 210 ₁, 210 ₂ 210 ₃ and 210 _(N)includes electromagnetic field detection elements, such as coils, fordetecting the electromagnetic fields produced by MPS 198.

MPS 198 processes the detected electromagnetic fields and provides anindication of the three-dimensional location and orientation of MPSsensors 210 ₁, 210 ₂ 210 ₃ and 210 _(N). Hence, MPS 198 is operative todetermine the location and orientation of image transducer 218, catheter222 and a selected point on the body of patient 216.

The location and orientation of each of the captured two-dimensionalimages are directly derived from the location and orientation of imagetransducer 218. Hence, by determining the location and orientation ofMPS sensor 210 ₂, MPS 198 can determine the location and orientation ofeach of the two-dimensional images captured by image transducer 218.

ECG monitor 196 obtains and represents an electrical timing signal(ECG—electrocardiogram) of the inspected heart. It is noted that ECG isa heart timing signal, which includes ECG cycles and represents thepropagation of electrical currents through specific regions of theheart. The duration of an ECG cycle (or cardiac cycle) is defined as thetime between two subsequent heart contractions. ECG is detected using atleast two ECG electrodes, which are placed on selected areas of the bodyof patient 216 (e.g., the arms, legs, chest, abdomen, and the like).

ECG electrodes 220 continuously obtain an electrical signal from theheart and provide this signal to ECG monitor 196. ECG monitor 196amplifies the received electrical signal, produces a graphic linetracing the electrical activity of the heart, as a function of the time,and provides this data in digital format to processor 192.

Processor 192 receives each of the two-dimensional images, therespective three-dimensional location and orientation of that specifictwo-dimensional image, and the organ timing signal of the heart at thetime the image was captured. Processor 192 can further receive thethree-dimensional location and orientation of catheter 222. Processor192 associates each detected two-dimensional image, with the locationand orientation information and the heart-timing signal.

When catheter 222 is located within the inspected organ, atwo-dimensional image can include a sliced representation of a portionthereof. Processor 192 receives the location and orientation of MPSsensor 210 ₁, which is attached to catheter 222 and can extrapolate thelocation and orientation of a larger portion of catheter 222, in casethat portion of catheter 222 is substantially rigid. Hence, processor192 can determine if that portion of catheter 222 is located within anarea of the acquired two-dimensional image. Processor 192 can discardthis area, while updating the three-dimensional image, to which thetwo-dimensional image belongs.

D3DR 202 reconstructs a three-dimensional image from capturedtwo-dimensional images, having the same activity-state (e.g., for eachdetermined point of the heart timing cycle) and from thethree-dimensional location and orientation data associated with each ofthe images.

AVDB 204 contains the reconstructed three-dimensional images of theinspected organ, along with the activity-state associated therewith andwith the location and orientation of the coordinate system thereof. Thedetected ECG sequence is further used for synchronously playing back thethree-dimensional images, where every three-dimensional image isdisplayed when the activity-state associated therewith is substantiallyequal to the real-time detected activity-state of the inspected organ.

In case catheter 222 is inserted in the heart, superimposing processor206 can add the three-dimensional location and orientation of catheter222 to the reconstructed three-dimensional image. Alternatively,processor 192 can extrapolate the shape of catheter 222 in thecoordinate system of the reconstructed three-dimensional image.

A respective one of displays 214 presents a three-dimensional motionpicture of lumen 108 in synchrony therewith, which can be considered apseudo real-time simulation thereof. Processor 192 can determine thereference coordinate system of the display of the image (eitherreal-time two-dimensional, or real-time three-dimensional), to be any ofthe following:

-   -   The coordinate system of patient 216, where the body of patient        216 is still and lumen 108 and catheter 222 move.    -   The coordinate system of lumen 108, where lumen 108 is still,        and catheter 222 and the rest of body of patient 216 move. It is        noted that this viewing coordinate system can be extremely        useful in cases where lumen 108 exhibits rapid movement.    -   The coordinate system of catheter 222, where catheter 222 is        still, and lumen 108 as well as the rest of the body of patient        216 move.

Reference is further made to FIGS. 7A and 7B. FIG. 7A is an illustrationin perspective of an inner-body radial ultrasound imaging system,generally referenced 250, constructed and operative in accordance withanother embodiment of the disclosed technique. FIG. 7B is anillustration in perspective of a plurality of radial two-dimensionalimages of the inner walls of an inspected vessel, generally referenced252.

System 250 includes an inner-body radial image transducer 254, asurgical tool (i.e., typically a minimally invasive surgical device)256, MPS sensors 260 and 258, a mounting catheter 262 and a dilationcatheter 264. It is noted that inner-body radial ultrasound imagingsystem 250 can be replaced with alternative ultrasound systems such asGIVUS, or other types of two-dimensional imaging systems.

Radial image transducer 254 is mounted on mounting catheter 262, whichis further inserted in dilation catheter 264. MPS sensor 260 is locatedat a tip of mounting catheter 262 adjacent to radial image transducer254. Mounting catheter 262 is inserted in dilation catheter 264. MPSsensor 260 is located in close proximity to the tip of surgical tool256. Surgical tool 256 is further inserted in dilation catheter 264.

Radial image transducer 254 detects a plurality of two-dimensionalimages of different areas of the inspected organ (such astwo-dimensional images 252A, 252B, 252C, 252D, 252E and 252F (FIG. 7B).MPS 198 (FIG. 6) detects the location and orientation of radial imagetransducer 254, using sensor 260. MPS 198 (FIG. 6) further detects thelocation and orientation of surgical tool 256, using sensor 260. Thelocation and orientation of two-dimensional images 252A, 252B, 252C,252D, 252E and 252F (FIG. 7B) are directly derived from the location andorientation of the transducer 254.

As can be seen in FIG. 7B, each of the detected two-dimensional images252A, 252B, 252C, 252D, 252E and 252F is a two-dimensionalrepresentation of a different peripheral portion of the inspected areawithin the inspected organ and its vicinity. Radial image transducer 254provides the detected two-dimensional images 252A, 252B, 252C, 252D,252E and 252F to a respective one of two-dimensional image acquisitiondevices 194 (FIG. 6). System 190 (FIG. 6) associates eachtwo-dimensional image, with the location and orientation thereof.

Reference is further made to FIG. 8, which is a schematic illustrationof a two-dimensional image, generally referenced 252, in a givencoordinate system, generally referenced 266. FIG. 8 is mainly used forvisualizing the terms “location” and “orientation” of thetwo-dimensional image 252 in coordinate system 266.

The location and orientation of each two-dimensional image 252 redetermined in the coordinate system 266 (X, Y and Z). System 252determines a selected point in each captured two-dimensional image,which is to be the reference point for that image. In the example setforth in FIG. 8, the center of the image is determined to be thereference location point thereof. A unit vector extending from thatpoint, perpendicular to the plane of that image determines theorientation of that image.

Each detected two-dimensional image 252 is taken in a specific location(X′, Y′ and Z′) and a specific orientation (angles α, β, and χ). Avector 268 extends from a selected point 270 of the image 252. Thecoordinates of this point X′, Y′ and Z′ determine the specificthree-dimensional location of the image 252 in the coordinate system266. Angles α, β, and χ are the angles between the vector 268 and eachof the axes X, Y and Z, respectively. Thereby, vector 268 determines thespecific three-dimensional orientation of image 252 in coordinate system266.

Reference is further made to FIG. 9, which is an illustration inperspective of a plurality of two-dimensional images, generallyreferenced 252, and an organ timing signal, generally referenced 272. Inthe example set forth in FIG. 9, the organ timing signal is an ECGsignal.

The ECG signal can be used for synchronizing the detection procedure oftwo-dimensional images 252A, 252B, 252C, 252D, 252E, 252F, 252G, 252H,252I, 252J, 252K, 252L, 252M, 252N, 252O, 252P, 252Q, 252R and 252S,where each image is taken at a predetermined position in the organtiming signal. Two-dimensional images 252A, 252B, 252C, 252D, 252E,252F, 252G, 252H, 252I, 252J, 252K, 252L, 252M, 252N, 252O, 252P, 252Q,252R and 252S are detected at predefined points in time t₀, t₁, t₂, t₃,t₄, t₅, t₆, t₇, t₈, t₉, t₁₀, t₁₁, t₁₂, t₁₃, t₁₄, t₁₅, t₁₆, t₁₇ and t₁₈,respectively. T denotes the cycle duration of ECG signal 272 (e.g., thetime interval between the time points t₀ and t₈). Each point p₀, p₁, p₂,p₃, p₄, p₅, p₆, p₇, p₈, p₉, p₁₀, p₁₁, p₁₂, p₁₃, p₁₄, p₁₅, p₁₆, p₁₇ andp₁₈ denotes a specific position on the ECG timing signal and isassociated with specific activity-state of the heart.

In this example, two-dimensional images are detected continuously at arate of eight images per ECG cycle into predetermined points in eachheart cycle. Each point p₀, p₁, p₂, p₃, p₄, p₅, p₆ and p₇ denotes aspecific position on the first ECG cycle, each point p₈, p₉, p₁₀, p₁₁,p₁₂, p₁₃, p₁₄ and p₁₅ denotes a specific position on the second ECGcycle, and the like. Points p₈ and p₁₆ have the same specific positionon the ECG timing signal, as point p₀, and hence are associated with thesame activity-state. Points p₉ and p₁₇ have the same specific positionon the ECG timing signal, as point p₁, and hence are associated with thesame activity-state. Points p₁₀ and p₁₈ have the same specific positionon the ECG timing signal, as point p₂, and hence are associated with thesame activity-state. Thus, each detected two-dimensional image isassociated with a specific activity-state of the heart.

Reference is further made to FIGS. 10A, 10B, and 10C. FIG. 10A is aschematic illustration of a plurality of three-dimensional volumes,generally referenced 274, according to a further embodiment of thedisclosed technique. FIG. 10B is a schematic illustration of some of thethree-dimensional volumes of FIG. 10A, at a later stage of imagereconstruction. FIG. 10C is a schematic illustration of a selectedthree-dimensional volume of FIG. 10A, going through a procedure of imageupdating.

With reference to FIG. 10A, each of the three-dimensional volumes 274 isassociated with a selected one of the specific positions in the organtiming signal cycle, and hence is associated with the respectiveactivity-state. In the present example, three-dimensional volumes 274A,274B, 274C and 274D are associated with organ timing signal cyclelocations T, ¼ T, ½ T and ¾ T, respectively.

Each of the three-dimensional volumes 274A, 274B, 274C and 274D is usedfor reconstructing a three-dimensional image for a selected location inthe organ timing signal cycle, and hence for the respectiveactivity-state. Processor 192 (FIG. 6) sorts the two-dimensional imagesaccording to the timing position of the image on ECG signal 272 (i.e., aspecific activity-state).

In the present example, volume 274A includes two-dimensional images252A, 252I and 252Q (FIG. 9), which were detected at time points t₀, t₈and t₁₆, respectively. The position in the organ timing signal cycle ofthese images is T. Volume 274B includes two-dimensional images 252C,252K and 252S (FIG. 9), which were detected at time points t₂, t₁₀ andt₁₈, respectively. The position in the organ timing signal cycle ofthese images is ¼ T. Volume 274C includes two-dimensional images 252Eand 252M (FIG. 9), which were detected at time points t₄ and t₁₂,respectively. The position in the organ timing signal cycle of theseimages is ½ T. Volume 274D includes two-dimensional images 252G and 252O(FIG. 9), which were detected at time points t₆ and t₁₄, respectively.The position in the organ timing signal cycle of these images is ¾ T.

At this point, volume 274A contains information relating to thetwo-dimensional images that were stored therein, while portions ofvolume 274A remain at zero value, since no two-dimensional image isrelated thereto. D3DR 202 (FIG. 6) analyzes the content ofthree-dimensional volume 274A and attempts to determine the value ofsome of these zero value portions, for example, by means ofextrapolation. With reference to FIG. 10B, D3DR 202 (FIG. 6)reconstructs an image 276A within three-dimensional volume 274A.Similarly, D3DR 202 reconstructs image 276C within three-dimensionalvolume 274C.

System 190 (FIG. 6) updates the three-dimensional image 276A in realtime. Processor 192 (FIG. 6) continuously receives two-dimensionalimages, associated with a location and orientation thereof and an organactivity-state. Processor 192 (FIG. 6) provides each of thesetwo-dimensional images to D3DR 202 (FIG. 6) together with thethree-dimensional volume, associated with the same organ activity-state.D3DR 202 updates the three-dimensional volume according to the values ofthe new two-dimensional images.

The update procedure can be performed in many ways. According to oneaspect of the disclosed technique, a new value in a selectedthree-dimensional pixel (voxel) replaces an old value. According toanother aspect of the disclosed technique, an updated voxel valueincludes a combination (linear or otherwise) of the old voxel value(i.e., which already exists in the three-dimensional volume) and thenewly acquired value (i.e., received from the two-dimensional image). Itis noted that system 190 can operate either using polygonal or voxelrepresentations.

According to a further aspect of the disclosed technique, each of thevoxels in the three-dimensional volume includes various attributes suchas if the current value thereof, was provided from an acquired image, orwas calculated in the process of reconstructing the three-dimensionalimage, by means of extrapolation. In this case, a newly acquired valueis preferred over a calculated one. With reference to FIG. 10C, D3DR 202receives a new two-dimensional image 252Y, which is associated with anorgan activity state of t=T. D3DR 202 updates the respectivethree-dimensional volume 274A and the image therein 276A, therebyproducing an updated image 276A_(UPDATED).

In case where a catheter 222 (FIG. 6) is inserted in the inspectedorgan, system 190 excludes a fragment of the two-dimensional image,which contains a representation of the catheter 222. Processor 192 (FIG.6) modifies the two-dimensional image by excluding these fragments (e.g.by introducing null values to those fragments). D3DR 202 analyzes themodified two-dimensional image and does not update the respectiveportions in the respective three-dimensional volume.

It is noted that each ECG cycle consists of a period of relaxation,named a diastole followed by a period of contraction named a systole.The duration of the ECG cycle is defined as a time between twosubsequent heart contractions. According to a further embodiment of thedisclosed technique, the ECG cycle is evenly divided by N, where Ndenotes the number of three-dimensional images in the final imagesequence.

Following is a description of reconstructing the trajectory of acatheter within a lumen, according to detected positions of the catheterat a selected activity-state of the organ timing signal of the lumen. Inthis manner, a trajectory corresponding to the selected activity-state,can be displayed together with the three-dimensional image of the lumencorresponding to the same activity-state. Alternatively, a real-timethree-dimensional image sequence of the lumen can be displayed accordingto the organ timing signal of the lumen, together with the correspondingtrajectories.

Reference is further made to FIGS. 11A, 11B and 11C. FIG. 11A is aschematic illustration of an ECG of a patient, generally referenced 300.FIG. 11B is a schematic illustration of trajectories of the tip of thecatheter of the system of FIG. 6, respective of differentactivity-states of the ECG of FIG. 11A, constructed according to anotherembodiment of the disclosed technique. FIG. 11C is a schematicillustration of the process of reconstructing a three-dimensional organmotion dependent image sequence, and superimposing additional visualdata thereon, by processing the signals received from thetwo-dimensional image acquisition device, the MPS and the ECG monitor.The additional visual data can include the position of the catheterwithin the lumen, the trajectory of a catheter within the lumen, and thelike.

ECG 300 includes a plurality of activity-states (e.g. ECG cycle phases),such as activity-states T₁, T₂ and T₃ in each of a plurality of heartcycles 302, 304 and 306. Applicant has found that the position of lumen108 (FIGS. 1A and 1B) is different at different activity-states, duringeach of the heart cycles 302, 304 and 306.

For example, at activity-state T₁ of each of the heart cycles 302, 304and 306, the position of lumen 108 is represented by a lumen image at aposition 330 (FIG. 11B). At activity-state T₂ of each of the heartcycles 302, 304 and 306, the position of lumen 108 is represented by alumen image at a position 332. At activity-state T₃ of each of the heartcycles 302, 304 and 306, the position of lumen 108 is represented by alumen image at a position 334. At position 330, points 336, 338 and 340represent different positions of catheter 222 (FIG. 6) at activity-stateT₁. At position 332, points 342, 344 and 346 represent differentpositions of catheter 222 at activity-state T₂. At position 334, points348, 350 and 352 represent different positions of catheter 222 atactivity-state T₃.

Processor 192 (FIG. 6) associates between all of the two-dimensionalimages (i.e., images acquired at points 336, 338 and 340) which weredetected during activity-state T₁ at any cycle of ECG signal 300.Similarly, processor 192 associates between all of the two-dimensionalimages (i.e., images acquired at points 342, 344 and 346) which weredetected during activity-state T₂ at any cycle of ECG 300 and furtherassociates between all of the two-dimensional images (i.e., imagesacquired at points 348, 350 and 352) which were detected duringactivity-state T₃ at any cycle of ECG 300.

Processor 192 reconstructs a three-dimensional image from all of thetwo-dimensional images, which were associated with respect to a givenactivity-state T_(i). With reference to FIG. 11B, processor 192reconstructs three-dimensional image 330, which is the image of theinspected organ at activity-state T₁ (FIG. 11A), and three-dimensionalimage 332, which is the image of the inspected organ at activity-stateT₂. Likewise, processor 192 reconstructs three-dimensional image 334,which is the image of the inspected organ at activity-state T₃.

Processor 192 calculates a trajectory 354 from points 336, 338 and 340,associated with activity-state T₁. Similarly, processor 192 calculates atrajectory 356 from points 342, 344 and 346 associated withactivity-state T₂ and further calculates a trajectory 358 from points348, 350 and 352 associated with activity-state T₃.

Processor 192 associates between each of the calculated trajectories andone of the reconstructed three-dimensional images, respective of a givenorgan activity-state. With reference to FIG. 11B, processor 192associates between trajectory 354 and reconstructed three-dimensionalimage 330, respective of activity-state T₁. Similarly, processor 192associates between trajectory 356 and reconstructed three-dimensionalimage 332, respective of activity state T₂ and further betweentrajectory 358 and reconstructed three-dimensional image 334, respectiveof activity-state T₃.

Since points 336, 338, 340, 342, 344, 346, 348, 350 and 352, used forcalculating the trajectories are also the points at which theirrespective two-dimensional images were acquired, processor 192 cansuperimpose each of the calculated trajectories on its respectivereconstructed three-dimensional image. For example, processor 192superimposes trajectory 354 on three-dimensional image 330, trajectory356 on three-dimensional image 332 and trajectory 358 onthree-dimensional image 334.

With reference to FIG. 11C, processor 192 (FIG. 6) reconstructsthree-dimensional image 106 (FIG. 1B) of lumen 108, from a plurality oftwo-dimensional images 380, according to MPS coordinate data 382, all ofwhich are respective of a selected activity-state within the cycles ofECG data 384. Processor 192 reconstructs three-dimensional image 106from all the two-dimensional images which belong to of activity-stateT₂. In addition, processor 192 generates trajectory 114 (FIG. 1B) ofcatheter 222, which corresponds to activity-state T₂, from points 342,344 and 346 (FIG. 11B). Super imposing processor 206 superimposestrajectory 114 and real-time representation 112 (FIG. 1B) of a tip 390of catheter 222, on three-dimensional image 106.

System 190 (FIG. 6) can playback the sequence of reconstructed images ora selected cycle of the originally acquired two-dimensional images,according to the stored ECG data or at predetermined time intervals.System 190 can also playback the sequence of reconstructed images or aselected cycle of the originally acquired two-dimensional images, insynchrony with real-time detected ECG data.

It is noted that since catheter 222 moves within lumen 108 in real-time,no synchronization is required with respect to the organ timing signalin that aspect. However, it is noted that processor 192 has to registerthe coordinate system in which the images were acquired, with thecoordinate system of the MPS sensor of catheter 222, or to use the sameMPS system for the image acquisition process and the playback surgicalprocedure.

Following is a description of a GUI which allows the operator to freezea three-dimensional image of a lumen, at a selected activity-state of anorgan of the patient. The GUI also allows the operator to move forwardand backward in terms of activity-state.

Reference is further made to FIG. 12, which is a schematic illustrationof an ECG coordinated display (i.e., a GUI) of a lumen, generallyreferenced 410, constructed and operative in accordance with a furtherembodiment of the disclosed technique. ECG coordinated display 410includes an ECG timing signal 412, a forward button 414, a backwardbutton 416, a freeze button 418 and three-dimensional image 106 (FIG.1B).

Three-dimensional image 106 corresponds with an activity-state 420 inECG timing signal 412. When the operator presses forward button 414, asequence of three-dimensional images of lumen 108 is displayed in awindow 422. Each of the three-dimensional images displayed in window422, corresponds with the respective activity-state in ECG timing signal412, as if ECG timing signal 412 would advance in a direction designatedby an arrow 424.

When the operator presses backward button 416, a sequence ofthree-dimensional images of lumen 108 is successively displayed inwindow 422. Each of the three-dimensional images displayed in window 422corresponds with the respective activity-state in ECG timing signal 412,as if ECG timing signal 412 would retard in a direction designated by anarrow 426.

When the operator presses freeze button 418, a three-dimensional imageof lumen 108 is displayed in window 422, wherein the three-dimensionalimage corresponds with a selected activity-state 428. In this manner thethree-dimensional image of lumen 108 in window 422 remains stationary atactivity-state 428, during which the physician can inspect thethree-dimensional image of lumen 108.

Each of the three-dimensional images, which are displayed in window 422,is acquired by system 190 (FIG. 6), during the scanning process. Thus,the operator can view animated three-dimensional images of lumen 108 asthe heart of the patient would beat either forward or backward in time.The operator can alternatively view a three-dimensional image of lumen108, which corresponds with a selected activity-state during a selectedheart cycle of the patient, by pressing freeze button 418 at a selectedpoint in time. It is noted that other sequenced images, such as areference real-time image (i.e., served as road map during navigation,such as a fluoroscopic image, and the like) can also be made tofreeze-up.

Following is a description of a GUI for identifying a plaque within thelumen, having a selected percentage of occlusion. According to analgorithm, the processor automatically designates the necessary marks ona real-time image of the lumen, as the selected position to which thestent is to be delivered.

Reference is further made to FIGS. 13A, 13B and 13C. FIG. 13A is anillustration of the lumen of FIG. 1A, having a plurality of occludedregions. FIG. 13B is a cross-sectional view of a selected region of thelumen of FIG. 13A. FIG. 13C is a schematic illustration of arepresentation of the lumen of FIG. 13B in a GUI, generally referenced450, operative in accordance with another embodiment of the disclosedtechnique.

Lumen 108 includes plaques 452, 454 and 456. It is noted that plaques452, 454 and 456 can be fixed in their places or be dynamic. Plaques452, 454 and 456 block lumen 108 by 75%, 60% and 80%, respectively. Withreference to FIG. 13B, the hatched area denotes the blockage due toplaque 452 within lumen 108, leaving ducting 458 open for blood flow.

Processor 190 (FIG. 6) can determine the percentage of occlusion,according to a plurality of methods, taking into account parameters suchas plaque type, plaque density, and the like. The following is a simpleexample for such a method:$\%_{BLOCKED} = {\left( {1 - \frac{S_{LUMEN}}{S_{ARTERY}}} \right) \cdot 100}$where, S_(LUMEN) denotes the cross section of ducting 458 and S_(ARTERY)denotes the total internal area of lumen 108.

GUI 450 includes a graphical window 460. Graphical window 460 includesthree-dimensional image 106 and a ratio selection window 462. Ratioselection window 462 includes a graduation bar 464, a pointer 466 and anumerical box 468. The operator can dynamically set the occlusionpercentage threshold, by dragging pointer 466 along graduation bar 464,via user interface 208 (FIG. 6). Alternatively, the operator can enter aselected occlusion percentage threshold in numerical box 468, throughuser interface 208. In the example set forth in FIG. 13B, the numericalvalue 70%, of the selected percentage is shown in numerical box 468.

System 190 (FIG. 6) then marks only those regions on three-dimensionalimage 106, which are occluded more than the selected occlusionpercentage. In the example set forth in FIG. 13B, only those regions oflumen 108 which are occluded 70% or more, are marked inthree-dimensional image 106. Plaques 452 and 456, which exceed 70%, arerepresented by marked regions 470 and 472, respectively, onthree-dimensional image 106. Marked regions 470 and 472 aredifferentiated from the rest of the portions of three-dimensional image106, by being colored in a different hue, marked by hatches, animated,and the like.

It is noted the system enables the operator to manually correct themarking on screen, in case that the operator, according to her medicalknowledge and experience detects for example, that the plaque portionshould be different than what the system indicated. It is further notedthat the system can present the various layers of the lumen (i.e.,media, adventitia and intima), in GUI 450, in different colors.

Following is a description of a method for detecting the organ timingsignal of the lumen, either due to the cardiac cycle or the respiratorycycle, by employing the MPS, instead of the ECG monitor. The term“time-tagging” herein below refers to the process of associating a dataelement, with the exact time at which that data element was obtained(e.g., associating an MPS coordinate reading with the exact time atwhich that reading was obtained). The data obtained via each of MPSsensors 210 ₁, 210 ₂, 210 ₃ and 210 _(N) is time-tagged. Thetwo-dimensional images acquired by each of two-dimensional imageacquisition devices 194 is also time-tagged. The time-tags are takeninto account when processing the data elements stored in adaptivevolumetric database 204.

Latency compensation is performed on all the time-tagged data elements.In general, image frames from the set of two-dimensional (2D) imagesacquired by two-dimensional image acquisition devices 194 are shifted sothat the time-tags thereof match the time-tag of the corresponding MPSdata set (i.e., images acquired at the same time as an MPS coordinatereading was obtained will be matched with one another).

The term “corresponding data sets” herein below, refers to a pair ofdata sets which have the same time-tags. It is noted that the time-tagof a data set refers to the set of time-tags of the elements within thedata set. For example, an MPS data set is corresponding with atwo-dimensional images data set if readings in the MPS data set have thesame time-tag as the images in the two-dimensional images data set.

Corresponding data sets represent data sets that occur during the samesession in a medical procedure. The term “Non-corresponding data sets”herein below, refers to a pair of data sets which have differenttime-tags. For example, an MPS data set is non-corresponding with atwo-dimensional images data set if the readings in the MPS data set havea different time-tag than all the images in the two-dimensional imagesdata set. Non-corresponding data sets represent data sets that wererecorded during different sessions (within the same or different medicalprocedures).

Reference is further made to FIG. 14, which is a schematic illustrationof a method for determining an organ timing signal of an organ of thepatient, according to position data of an MPS sensor which movestogether with the movements of the organ, operative in accordance with afurther embodiment of the disclosed technique. In procedure 500, datasets are obtained from MPS 198 (FIG. 6). Each data set includes a seriesof position coordinate readings of two-dimensional image acquisitiondevice 164, catheter 222, a selected area of the body of patient 216, orthe operating table on which patient 216 is lying, respectively, asreceived from one of plurality of MPS sensors 210 ₁, 210 ₂, 210 ₃ and210 _(N). MPS 198 processes detected electromagnetic fields to obtainthe respective position coordinate readings, which are subsequentlystored in adaptive volumetric database 204. It is recalled that each MPSsensor position coordinate reading is time-tagged, or associated withthe exact time at which the reading was obtained. Thus, each MPS dataset received from MPS sensor 210 ₁ includes a collection of coordinatereadings demonstrating the precise motion trajectory of catheter 222over time.

In procedure 502, cardiac phase information is obtained from cardiacmotion. In particular, cardiac phase information is obtained from datastreams originating from MPS sensor 210 ₁ located on catheter 222.Procedure 502 consists of procedures 504, 506, 508, 510 and 512.

In procedure 504, periodic motion frequencies are detected andidentified in a time-tagged MPS data set. As catheter 222 is maneuveredwithin lumen 108, the motion of catheter 222 is influenced by twoadditional factors. The first factor relates to the activity of theheart, or cardiac motion, such as systole and diastole. Cardiac motionaffects lumen 108 in a certain way, such as contraction or expansion invarying degrees and at periodic intervals. The second factor relates tothe breathing activity, or respiratory motion, such as inhaling andexhaling. Respiratory motion affects lumen 108 in a certain way, such ascontraction or expansion in varying degrees and at periodic intervals.Taken together, the overall motion of catheter 222 is composed of thecardiac motion and the respiratory motion superimposed onto the movementassociated with maneuvering catheter 222 (which corresponds to thetopography of the lumen system).

Since the cardiac motion and respiratory motion are cyclic in nature,the periodic frequencies can be detected in the overall trajectory ofcatheter 222. The specific frequencies relating to the cardiac motionexhibit different characteristics than the specific frequencies relatingto the respiratory motion. The specific frequencies relating to thecardiac motion are identified from the detected periodic frequencies.Similarly, the specific frequencies relating to the respiratory motionare identified from the detected periodic frequencies. Processor 192performs the analysis on the MPS data set and identifies the relevantperiodic motion frequencies.

In procedure 506, periodic motion frequencies are filtered from thetime-tagged MPS data set. The periodic motion frequencies detected inprocedure 504 are separated out from the overall trajectory of catheter222. The remaining motion components correspond to the central axis ofthe maneuvers of catheter 222, which represents the vessel topography,or “centerline trajectory” (referenced procedure 514). The time-tagsassociated with the MPS data set are retained for each of the filteredperiodic motion frequencies. Processor 192 filters out the relevantperiodic motion frequencies from the MPS data set.

In procedure 508, the mechanical movement of lumen 108 due to thecardiac motion, or “cardiac trajectory”, is reconstructed from the MPSdata sets and from the filtered periodic motion frequencies. Inparticular, the cardiac trajectory is reconstructed according to thepreviously identified specific frequencies relating to the cardiacmotion. The reconstructed cardiac trajectory may be reflected, forexample, by a graph that indicates the trajectory of lumen 108 due tocardiac motion over a period of time. Processor 192 analyzes therelevant periodic motion frequencies and creates a reconstruction of thecardiac trajectory.

In procedure 516, the mechanical movement of lumen 108 due to therespiratory motion, or “respiratory trajectory”, is reconstructed fromthe MPS data sets and the filtered periodic motion frequencies. Inparticular, the respiratory trajectory is reconstructed according to thepreviously identified specific frequencies relating to the respiratorymotion. The reconstructed respiratory trajectory may be reflected, forexample, by a graph that indicates the trajectory of lumen 108 due torespiratory motion over a period of time. Processor 192 analyzes therelevant periodic motion frequencies and creates a reconstruction of therespiratory trajectory.

Reconstruction of the respiratory trajectory may be based solely oncoordinate readings obtained from the external reference sensors (i.e.,MPS sensors 210 _(N) or 210 ₃). It is noted that an additional referencesensor (or plurality thereof) may be attached (i.e., externally orinternally) to the body of patient 216, to monitor breathing patterns,and the like. For example, an intravascular sensor may be used for thispurpose.

This sensor functions as a confirmation mechanism to provide supportingdata regarding respiratory motion, and more accurately determineperiodic motion frequencies relating to respiratory motion. It is notedthat the same or an additional sensor (or plurality thereof) may be usedfor gathering additional cardiac data either as a confirmation mechanismor for providing supporting data for cardiac phase detection.

In procedure 510, phase detection is performed on the reconstructedcardiac trajectory. The cardiac trajectory consists of different phasesor activity-states of the heart, corresponding to different pointswithin a cardiac cycle. The phases repeat themselves periodically witheach cycle. The plurality of cardiac activity-states is identified onthe reconstructed cardiac trajectory during phase detection. Processor192 performs the analysis of the cardiac trajectory and identifies thedifferent cardiac cycle phases.

Reference is further made to FIG. 15A, which is a schematic illustrationof a cardiac trajectory, in an electrical signal representation and in amechanical signal representation. The mechanical signal representationof the cardiac trajectory, generally referenced 550, includes aplurality of cardiac activity-states (i.e., cardiac cycle phases), suchas activity-states T₁, T₂ and T₃, in each of a plurality of cardiaccycles 552, 554 and 556. The mechanical representation of the cardiactrajectory is equivalent to the cardiac trajectory reconstructed fromthe MPS data sets and the filtered periodic motion frequencies(procedures 506 and 508). The electrical signal representation of thecardiac trajectory, generally referenced 558, depicts the sameactivity-states T₁, T₂ and T₃, in each of cardiac cycles 552, 554 and556.

However the precise time at which these activity-states occur may bedifferent in the two representations, as there is a slight delay at theelectrical representation with respect to the mechanical representation.For example, it is shown that activity-state T₃ of cardiac cycle 554occurs a at time t_(A) in cardiac trajectory 550 and at a time t_(B) incardiac trajectory 558. Therefore, it is necessary to perform analignment between the activity-states, when using information from theelectrical representation for phase detection. The electricalrepresentation 558 of the cardiac trajectory is equivalent to theelectrical timing signals obtained by ECG monitor 196.

It is noted that the detection of cardiac phases is performed basedsolely on data sets originating from at least MPS sensor 210 ₁ locatedon catheter 222, and perhaps also from the reference sensors (i.e., MPSsensors 210 ₃ and 210 _(N)). These data sets provide a mechanicalrepresentation of the cardiac trajectory. No external monitoring deviceis required to obtain cardiac phase information.

It is noted that periodic motion components relating to the respiratorymotion may also be used as supporting data for cardiac phase detection.It is further noted that phase detection may be performed on theoriginal MPS data sets, rather than on the reconstructed cardiactrajectory, using the detected and filtered periodic motion frequencies.The different phases or activity-states of the heart are identifieddirectly on the MPS data sets obtained in procedure 500.

In procedure 512, cardiac phase information is associated with the MPSdata sets. Each data set obtained from MPS sensor 210 ₁ relating to theposition of catheter 222 is matched to one of a plurality ofactivity-states T₁, T₂ and T₃, according to their corresponding timeelements (i.e., time-tags). The position of lumen 108, and consequentlythe position of catheter 222, is different during differentactivity-states of lumen 108. Processor 192 associates between acoordinate reading and the matching phase thereof, and stores theinformation in adaptive volumetric database 204.

Respiratory phase information may be obtained from the respiratorymotion, in a similar manner as cardiac phase information is obtainedfrom the cardiac motion. Respiration activity-states may be identifiedon the reconstructed respiratory trajectory using the periodic motioncomponents relating to the respiratory motion. Periodic motioncomponents relating to the respiratory motion may also be used incorrelation with non-corresponding data sets.

Respiratory phase information is obtained from respiratory motion in anoptional procedure 518. Procedure 518 consists of procedures 516, 520and 522. In procedure 516, a respiratory trajectory is reconstructedfrom the MPS data sets and the filtered periodic motion frequencies, asdescribed herein above in connection with procedures 504, 506 and 508.

In procedure 520, phase detection is performed on the reconstructedrespiratory trajectory. Like the cardiac trajectory, the respiratorytrajectory consists of different phases or activity-states of the lungs,corresponding to different points within a respiratory cycle. Therespiratory activity-states of the lungs can be identified from thephases of the respiratory trajectory. The phases repeat themselvesperiodically with each cycle. The respiratory activity-states areidentified on the reconstructed respiratory trajectory during phasedetection. Processor 192 performs the analysis of the respiratorytrajectory and identifies the different respiratory cycle phases.

Reference is further made to FIG. 15B, which is a schematic illustrationof a respiratory trajectory in a mechanical signal representation,generally referenced 560. Mechanical signal representation 560 includesa plurality of respiratory activity-states (i.e., respiratory cyclephases), such as activity-states T₄, T₅ and T₆. Mechanicalrepresentation 560 is equivalent to the respiratory trajectoryreconstructed from the MPS data sets, and the filtered periodic motionfrequencies in procedure 508.

It is noted that the detection of respiratory phases is performed basedsolely on data sets detected by MPS sensor 210 ₁ located on catheter222, and from MPS sensors 210 _(N) and 210 ₃, attached to the body ofpatient 216, and the operation table, respectively. These data setsprovide a mechanical representation of the respiratory trajectory. Noexternal monitoring device is required to obtain respiratory phaseinformation. It is further noted that phase detection may be performedon the original MPS data sets, rather than on the reconstructedrespiratory trajectory, using the detected and filtered periodic motionfrequencies. The different phases or activity-states of the lungs areidentified directly on the MPS data sets obtained in procedure 500.

It is noted that the actual value of the cardiac rate or respiratoryrate of the patient may be obtained without using any externalmonitoring device (such as ECG monitor 196). The cardiac rate orrespiratory rate of patient 216 can be obtained solely from MPS sensors210 ₁, 210 ₃ and 210 _(N), either individually or jointly.

In procedure 522, respiratory phase information is associated with theMPS data sets. Each data set obtained from MPS sensor 210 ₁ relating toposition of catheter 222 is matched to one of activity-states T₄, T₅ andT₆, according to their corresponding time-tags. Procedure 522 isanalogous to procedure 512 discussed herein above.

Following is a description of automatic maneuvering of catheter 222(FIG. 6) within lumen 108 (FIG. 1A). The term “topologicalrepresentation” herein below, refers to a mapping of a lumen system(e.g., the circulation, the bronchial tree, the urogenital system, therenal system) of the body of the patient, which a system according tothe disclosed technique employs, in order to maneuver the catheter froman origin to a destination. The mapping can be either two-dimensional orthree-dimensional. Alternatively, it is noted that the term “topologicalrepresentation” may include just the path to be followed in the lumensystem.

Reference is further made to FIGS. 16 and 17. FIG. 16 is a schematicillustration of a system, generally referenced 580, for automaticallymaneuvering a catheter within a lumen of the body of a patient,constructed and operative in accordance with another embodiment of thedisclosed technique. FIG. 17 is a schematic illustration of a method bywhich the imaging system of the system of FIG. 16 determines thecoordinates of a path within the lumen, in three dimensions.

With reference to FIG. 16, system 580 includes a joystick 582, acontroller 584, a moving mechanism 586, an MPS 588, a plurality oftransmitters 590A, 590B and 590C, an imaging system 592, a positiondetector 594, a catheter 596 and a display 598. Imaging system 592includes a radiation generator 600 and a radiation detector 602. Imagingsystem 592 can be an X-ray system, fluoroscope, C-arm imager, CT, PET,ultrasound system, MRI, and the like.

Moving mechanism 586 can include a pair of angular movement rollers 604Aand 604B, and a pair of linear movement rollers 606A and 606B, andrespective moving elements (not shown) such as electric motors,actuators, and the like. However, moving mechanism 586 can includeother, alternative or additional elements, as long as it imparts tocatheter 596 the necessary motions described herein below (e.g.,piezoelectric motors which transfer linear movement through friction).Optionally, moving mechanism 586 can be disposable in order to keep itsterile. Controller 584 includes a processor (not shown) and a storageunit (not shown) for storing information respective of a path 608, whichcatheter 596 should move according to, within lumen 108 (FIG. 1A).

Moving mechanism 586 is coupled with joystick 582 and with controller584. Controller 584 is coupled with imaging system 592. MPS 588 iscoupled with controller 584 and with transmitters 590A, 590B and 590C.Position detector 594 is coupled with MPS 588 by a conductor 610 (i.e.,a conductive coupling). Display 598 is coupled with MPS 588 and withimaging system 592. Position detector 594 is located at a distal portionof catheter 596.

Controller 584, MPS 588, imaging system 592, display 598, positiondetector 594, and each of transmitters 590A, 590B and 590C, are similarto processor 192 (FIG. 6), MPS 198, two-dimensional image acquisitiondevices 194, display 214, MPS sensor 210 ₁, and transmitter 212,respectively. Hence, the moving mechanism can be incorporated with thesystem of FIG. 6, and coupled with the processor, the MPS, and thecatheter of FIG. 6.

During the medical operation, the body of the patient (not shown) islocated between radiation generator 600 and radiation detector 602.Imaging system 592 has at least one degree of freedom, thereby beingable to take a plurality of images of the body of the patient, fromdifferent directions. Imaging system 592 provides a signal to display598, respective of two-dimensional image 104 (FIG. 1A), for display 598to display two-dimensional image 104.

Path 608 is a three-dimensional curve between an origin 612 and adestination 614 of a distal portion (not shown) of catheter 596 relativeto lumen 108. Both origin 612 and destination 614 are within a field ofview of imaging system 592. Path 608 is determined during an imagingsession prior to the medical operation, and stored in the storage unit.

Controller 584 calculates and constructs path 608, for example,according to a plurality of two-dimensional images obtained from lumen108, with the aid of a C-arm imager. For example, the C-arm can obtaintwo two-dimensional ECG gated images of lumen 108 at two differentnon-parallel ECG gated image planes. When the operator indicates origin612 and destination 614, the C-arm constructs path 608 in threedimensions. It is noted that controller 584 calculates path 608 based onone or more image processing algorithms, according to contrastvariations of lumen 108 relative to the background.

With further reference to FIG. 17, imaging system 592 captures an image616 of lumen 108 on an image plane 618 in a three-dimensional coordinatesystem 620, and another image 622 of lumen 108 on an image plane 624 inthree-dimensional coordinate system 620. Imaging system 592 is aware ofthe orientation between image planes 618 and 624 (i.e., the angles therebetween). Imaging system 592 identifies a feature 626 of lumen 108 inimage 616 and a corresponding feature 628 in image 622. Imaging system592 determines the three-dimensional coordinates of feature 626 (orfeature 628) in three-dimensional coordinate system 620, by determiningthe intersection of normals 630 and 632 from features 626 and 628,respectively, to image planes 618 and 624, respectively, at a point 634.Imaging system 592 performs the above procedure for other features oflumen 108, thereby constructing path 608 in three dimensions.

A two-dimensional image which the C-arm obtains from the body of thepatient, can include other lumens (not shown) in addition to lumen 108,which are located at planes different than the plane of lumen 108 (i.e.,these additional lumens overlap lumen 108 in the captured image). Inthis case, when the operator indicates origin 612 and destination 614,it is not evident to the C-arm that the operator is interested in a paththrough lumen 108, and the C-arm can construct a path (not shown), whichpasses through another lumen which in the two-dimensional image overlapslumen 108. Hence, the C-arm obtains another two-dimensional image oflumen 108 at another image plane, such that in the new two-dimensionalimage, lumen 108 is not overlapped by any other lumens.

Prior to the medical operation, the coordinate systems of MPS 588 andimaging system 592 are set to a common two-dimensional coordinatesystem, for display 598 to superimpose real-time representation 110(FIG. 1A) of position detector 594, on two-dimensional image 104, duringthe medical operation. This method is described herein above inconnection with FIG. 11C. The information displayed by display 598,serves the physical staff to observe the location of the distal portionof catheter 596 relative to lumen 108, throughout the medical operation.This two-dimensional coordinate system can be determined for example,according to the following method.

A first transformation model between the three-dimensional coordinatesystem of MPS 588 and the three-dimensional coordinate system of imagingsystem 592 is determined. A second transformation model between thethree-dimensional coordinate system of imaging system 592 and atwo-dimensional coordinate system of imaging system 592 is determined.The three-dimensional coordinate system of MPS 588 is transformed to thethree-dimensional coordinate system of imaging system 592, by applyingthe first transformation model to the three-dimensional coordinatesystem of MPS 588. The three-dimensional transformed coordinate systemof imaging system 592 is transformed to the two-dimensional coordinatesystem of imaging system 592, by applying the second transformationmodel to the three-dimensional transformed coordinate system of imagingsystem 592.

The first transformation model is determined according to a set ofpoints in the three-dimensional coordinate system of MPS 588 and anotherset of points in the three-dimensional coordinate system of imagingsystem 592. The second transformation model is determined according toexternal parameters of imaging system 592 (i.e., a set of points in thethree-dimensional coordinate system of imaging system 592) and internalparameters of imaging system 592 (e.g., lens angle, focal length,magnification).

Following is a description of operation of system 580, for performing anoperation on the vessels in the neck region of patient 216 (FIG. 6). Inthis case, path 608 is a three-dimensional curve within the axillaryartery (represented by lumen 108) which marks a path from the region ofthe first rib (i.e., origin 612) to the thyrocervical trunk (i.e.,destination 614). At the stage of medical operation, the physical staffinserts catheter 596 to the body of the patient through the rightbrachial artery (not shown), and manually maneuvers catheter 596 toreach origin 612.

At this point, system 580 takes over, to automatically maneuver catheter596 to destination 614. In response to the electromagnetic fieldproduced by transmitters 590A, 590B and 590C, position detector 594sends a signal to MPS 588 via conductor 610, respective of thethree-dimensional position of position detector 594. Alternatively,position detector 594 is coupled with MPS 588 wirelessly and withoutconductor 610, in which case position detector 594 sends this positionsignal to MPS 588 wirelessly.

MPS 588 determines the coordinates of position detector 594 according tothe signal received from position detector 594. MPS 588 sends a signalrespective of the coordinates of position detector 594 to controller584, in the three-dimensional coordinate system of MPS 588. MPS 588sends a signal respective of the coordinates of position detector 594 todisplay 598, in the two-dimensional coordinate system of imaging system592, as described herein above.

Throughout the medical operation, display 598 displays two-dimensionalimage 104 of an operational region of lumen 108 (i.e., a section betweenorigin 612 and destination 614) according to a signal received fromimaging system 592. Display 598 also displays representation 110 of thecurrent location of position detector 594 (i.e., the distal portion ofcatheter 596), superposed on two-dimensional image 104, according to thesignal received from MPS 588. Alternatively, the current location of theposition detector can be superposed on a three-dimensional image of thelumen (e.g., the coronary tree).

Instead of path 608, the controller can employ a topographicalrepresentation of the lumen system of patient 216, in order to controlthe moving mechanism to maneuver the catheter through the lumen system,from an origin to a destination within the lumen system. In this case,the controller determines the best path for the catheter to reach thedestination. It is noted that the controller may change the path inreal-time, depending on findings during the navigation process (e.g.,blocked passages, lumen which is narrower than expected). The controllermodifies the path according to the feedback provided in real time by theposition detector, and by comparing the actual position and orientationof he position detector with the expected position and orientation.Furthermore, the controller modifies a predefined three-dimensional pathwhich is used as a three-dimensional roadmap for the planning process.

The system can further include a processor (not shown) coupled with theMPS and with the display, and an organ monitor (not shown) such as anECG coupled with the processor, as described herein above in connectionwith FIG. 6. The Organ monitor monitors the organ timing signal of amonitored organ and sends a respective signal to the processor. Theprocessor sends a video signal to the display respective of an image ofthe lumen, corresponding with the current activity-state of themonitored organ detected by the organ monitor. The Display displays animage of the lumen, according to the current activity-state. Thus, thedisplay displays a superposition of a representation of the positiondetector on a reconstructed image of the lumen, taking into account themovements of the lumen due to the timing signal of the monitored organ(e.g., the heart beat of the patient). The display can display athree-dimensional reconstructed image of the lumen, as described hereinabove in connection with FIG. 6. This three-dimensional reconstructedimage is displayed relative to the coordinate system of the body of thepatient.

Alternatively, the medical positioning system can filter out the organtiming signal (i.e., producing a filtered MPS reading) and the currentposition of the position detector in the coordinate system of the lumen,from a multitude of positions of the position detector, in thecoordinate system of the body of the patient. In this case, thecontroller updates the topological representation and the position ofthe tip of the catheter according to the filtered MPS reading. Thecontroller controls the moving mechanism according to the updatedtopological representation and the updated position of the catheter.Furthermore, the display can display the updated topologicalrepresentation and the updated representation of the distal portion ofthe catheter, superposed on a substantially stationary three-dimensionalreconstructed image of the lumen.

Moving mechanism 586 operates according to the commands received fromcontroller 584, to maneuver catheter 596 along path 608, from origin 612to destination 614. For this purpose, the pair of angular movementrollers 604A and 604B twist catheter 596 clockwise and counterclockwiserelative to the longitudinal axis (not shown) of catheter 596, and thepair of linear movement rollers 606A and 606B move catheter 596 forwardand backward. Controller 584 constantly receives a signal from MPS 588respective of three-dimensional coordinates of position detector 594 atany given time (i.e., a feedback), thereby allowing moving mechanism 586to apply corrections to possible errors of movement along path 608.These corrections are applied in the following manner.

Controller 584 sends a signal at predetermined time increments to movingmechanism 586, to advance catheter 596 by a predetermined displacementincrement. Controller 584 determines the advancement of the distalportion of catheter 596 at each time increment (according to theposition signal received from MPS 588), and checks whether thisadvancement substantially matches the predetermined displacement bywhich catheter 596 was supposed to advance. In case the actual detectedadvancement does not match the predetermined displacement increment,controller 584 determines that catheter 596 has made contact with anobstacle (not shown) which prevents catheter 596 to advance according topath 608 (e.g., the distal portion of catheter 596 can be stuck at abifurcation 636).

In this case, controller 584 sends a signal to moving mechanism 586 toretreat catheter 596 by a selected increment backward within lumen 108,and also to twist the distal portion of catheter 596 by a selectedamount. After this twist, controller 584 sends a signal to movingmechanism 586 to advance catheter 596 by a predetermined displacementincrement. Thus, moving mechanism 586 can maneuver catheter 596 toovercome the obstacle and to enter the predetermined branch (in thiscase the thyrocervical trunk at bifurcation 636).

It is noted that due to the three-dimensional position information whichcontroller 584 receives as a real time feedback from MPS 588, controller584 can control the operation of moving mechanism 586 to maneuvercatheter 596 in three-dimensions. Thus, system 580 provides an advantageover systems in the prior art, in which the physical staff can maneuverthe catheter according to a two-dimensional display, only in twodimensions. System 580 provides automatic maneuvering of catheter 596through lumen 108 in three dimensions, while performing feedbackoriented real time corrections in order to reach destination 614 withinlumen 108.

Imaging system 592 (e.g., a C-arm) can detect lumen 108 from differentdirections in order to provide the information necessary for display 598to display two-dimensional image 104. Imaging system 592 selects the onespecific imaging direction at which the average distance of path 608from an image plane (not shown), is minimal. If X_(i) is the distancefrom a point i on path 608 normal to the image plane, where i=1, 2, 3 .. . N, then the minimum average distance is, $\begin{matrix}{\min\quad\frac{\sum\limits_{1}^{N}X_{i}}{N}} & (1)\end{matrix}$In case path 608 follows many curves in space and deviates significantlyfrom a two-dimensional path, then imaging system 592 can divide path 608to different parts, and prepare the information for two-dimensionalimage 104, by selecting a different image plane for each part, whilesatisfying Equation 1.

It is noted that more than one position detector can be located at thedistal portion of the catheter. This arrangement is crucial in case thedistal portion of the catheter is provided with a “curve-back”functionality. The “curve-back” movement can be provided for example, byemploying Electro Active Polymers (EAP). The moving mechanism islikewise provided with the necessary elements to apply an appropriatetorque to the distal portion of the catheter, to bend the distalportion. Moreover, with the aid of multiple position detectors, thedisplay can display the current geometry of the distal portion.

Furthermore, the controller can obtain a more complete informationrespective of the geometry of the distal portion of the catheter, whenthe catheter is blocked by an obstacle, and thus expedite themaneuvering operation. For example, if the controller detects that thedistal portion of the catheter has unexpectedly bent, then thecontroller determines that the tip of the catheter has made contact withan obstacle in the lumen. The controller can reach this conclusion forexample, by comparing the detected orientation of the position detectorat a given point within the lumen, with the computed slope of the pathat the same point within the lumen. In case the detected orientation andthe computed slope do not match, the controller determines that thecatheter has met an obstacle, thereby directing the moving mechanism tooperate in order to move the catheter back from the obstacle.

In case the physical staff is unsatisfied with the automatic operationof moving mechanism 586, he can override controller 584, and manuallyoperate moving mechanism 586 via joystick 582. The operator canintervene in any phase of operation of system 580, using joystick 582.

This is a semi-automatic mode of operation of system 580, whereincontroller 584 enables moving mechanism 586 to maneuver catheter 596through the trivial portions of path 608, and the operator takes controlof system 580 in the more intricate portions of path 608. In case ofmanual intervention, joystick 582 overcomes any automated action. It isnoted that both in the automatic mode and the manual mode, the operatorreceives a visual feedback of the advancement of catheter 596 withinlumen 108, by viewing representation 110 of the tip of catheter 596 ondisplay 598.

It will be appreciated by persons skilled in the art that the disclosedtechnique is not limited to what has been particularly shown anddescribed hereinabove. Rather the scope of the disclosed technique isdefined only by the claims, which follow.

1. Method for delivering a stent coupled with a catheter, to a selectedposition within a lumen of the body of a patient, the method comprisingthe procedures of: selecting a single image of said lumen, among aplurality of images of an image sequence of said lumen; receiving aposition input associated with said selected image and respective ofsaid selected position, said position input being defined in acoordinate system respective of a medical positioning system (MPS);detecting the current position of said stent in said coordinate system,according to position data acquired by an MPS sensor attached to saidcatheter in the vicinity of said stent; superimposing on at least onemaneuvering associated image of said lumen, at least one stentrepresentation respective of said current position, and at least onemarking representation respective of said position input, according to areal-time organ timing signal of an inspected organ of said body;maneuvering said catheter through said lumen, toward said selectedposition, according to said current position relative to said positioninput; and producing an output when said current position substantiallymatches said selected position.
 2. The method according to claim 1,wherein said procedure of superimposing is performed using only positioninput data which is associated with a real-time organ timing signal ofsaid inspected organ which is substantially identical to the organtiming signal associated with said selected image.
 3. The methodaccording to claim 1, wherein said procedure of superimposing isperformed by correcting said position input data according to a gapwhich is determined by the longitudinal location of said currentposition, said real-time organ timing signal and the organ timing signalwhich is associated with said selected image.
 4. System for delivering astent to a selected position within a lumen of the body of a patient,the stent being attached to a catheter, the system comprising: a userinterface for receiving a position input respective of said selectedposition; a medical positioning system (MPS) for determining the currentposition of said stent within said lumen, in a coordinate systemrespective of said MPS, according to position data acquired by an MPSsensor attached to said catheter in the vicinity of said stent, and forregistering said position input in said coordinate system; and aprocessor coupled with said user interface and with said MPS, saidprocessor superimposing at least one stent representation respective ofsaid current position, while said catheter is being maneuvered withinsaid lumen, and at least one marking representation respective of saidposition input, according to a real-time organ timing signal of aninspected organ of said patient, on at least one maneuvering associatedimage of said lumen, said at least one maneuvering associated imagebeing reconstructed from a plurality of two-dimensional images of saidlumen, according to said position data and said real-time organ timingsignal, said processor producing an output when said current positionsubstantially matches said position input.